EuclideanClusterExtraction represents a segmentation class for cluster extraction in an Euclidean sense. More...

#include <extract_clusters.h>

Inheritance diagram for pcl_ros::EuclideanClusterExtraction:

Public Member Functions
	EuclideanClusterExtraction ()
	Empty constructor. More...

Public Member Functions inherited from pcl_ros::PCLNodelet
	PCLNodelet ()
	Empty constructor. More...

Public Member Functions inherited from nodelet_topic_tools::NodeletLazy
	NodeletLazy ()

Public Member Functions inherited from nodelet::Nodelet
void	init (const std::string &name, const M_string &remapping_args, const V_string &my_argv, ros::CallbackQueueInterface st_queue=NULL, ros::CallbackQueueInterface mt_queue=NULL)

	Nodelet ()

virtual	~Nodelet ()

Protected Member Functions
void	config_callback (EuclideanClusterExtractionConfig &config, uint32_t level)
	Dynamic reconfigure callback. More...

void	input_indices_callback (const PointCloudConstPtr &cloud, const PointIndicesConstPtr &indices)
	Input point cloud callback. More...

void	onInit ()
	Nodelet initialization routine. More...

void	subscribe ()
	LazyNodelet connection routine. More...

void	unsubscribe ()

Protected Member Functions inherited from pcl_ros::PCLNodelet
bool	isValid (const PointCloud2::ConstPtr &cloud, const std::string &topic_name="input")
	Test whether a given PointCloud message is "valid" (i.e., has points, and width and height are non-zero). More...

bool	isValid (const PointCloudConstPtr &cloud, const std::string &topic_name="input")
	Test whether a given PointCloud message is "valid" (i.e., has points, and width and height are non-zero). More...

bool	isValid (const PointIndicesConstPtr &, const std::string &="indices")
	Test whether a given PointIndices message is "valid" (i.e., has values). More...

bool	isValid (const ModelCoefficientsConstPtr &, const std::string &="model")
	Test whether a given ModelCoefficients message is "valid" (i.e., has values). More...

Protected Member Functions inherited from nodelet_topic_tools::NodeletLazy
ros::Publisher	advertise (ros::NodeHandle &nh, std::string topic, int queue_size, bool latch=false)

virtual void	connectionCallback (const ros::SingleSubscriberPublisher &pub)

virtual void	onInitPostProcess ()

virtual void	warnNeverSubscribedCallback (const ros::WallTimerEvent &event)

Protected Member Functions inherited from nodelet::Nodelet
ros::CallbackQueueInterface &	getMTCallbackQueue () const

ros::NodeHandle &	getMTNodeHandle () const

ros::NodeHandle &	getMTPrivateNodeHandle () const

const V_string &	getMyArgv () const

const std::string &	getName () const

ros::NodeHandle &	getNodeHandle () const

ros::NodeHandle &	getPrivateNodeHandle () const

const M_string &	getRemappingArgs () const

ros::CallbackQueueInterface &	getSTCallbackQueue () const

std::string	getSuffixedName (const std::string &suffix) const

Protected Attributes
int	max_clusters_
	Maximum number of clusters to publish. More...

bool	publish_indices_
	Publish indices or convert to PointCloud clusters. Default: false. More...

boost::shared_ptr< dynamic_reconfigure::Server< EuclideanClusterExtractionConfig > >	srv_
	Pointer to a dynamic reconfigure service. More...

Protected Attributes inherited from pcl_ros::PCLNodelet
bool	approximate_sync_
	True if we use an approximate time synchronizer versus an exact one (false by default). More...

bool	latched_indices_
	Set to true if the indices topic is latched. More...

int	max_queue_size_
	The maximum queue size (default: 3). More...

ros::Publisher	pub_output_
	The output PointCloud publisher. More...

message_filters::Subscriber< PointIndices >	sub_indices_filter_
	The message filter subscriber for PointIndices. More...

message_filters::Subscriber< PointCloud >	sub_input_filter_
	The message filter subscriber for PointCloud2. More...

tf::TransformListener	tf_listener_
	TF listener object. More...

bool	use_indices_
	Set to true if point indices are used. More...

Protected Attributes inherited from nodelet_topic_tools::NodeletLazy
boost::mutex	connection_mutex_

ConnectionStatus	connection_status_

bool	ever_subscribed_

bool	lazy_

boost::shared_ptr< ros::NodeHandle >	nh_

boost::shared_ptr< ros::NodeHandle >	pnh_

std::vector< ros::Publisher >	publishers_

ros::WallTimer	timer_ever_subscribed_

bool	verbose_connection_

Private Attributes
pcl::EuclideanClusterExtraction< pcl::PointXYZ >	impl_
	The PCL implementation used. More...

ros::Subscriber	sub_input_
	The input PointCloud subscriber. More...

boost::shared_ptr< message_filters::Synchronizer< sync_policies::ApproximateTime< PointCloud, PointIndices > > >	sync_input_indices_a_

boost::shared_ptr< message_filters::Synchronizer< sync_policies::ExactTime< PointCloud, PointIndices > > >	sync_input_indices_e_
	Synchronized input, and indices. More...

Additional Inherited Members
Public Types inherited from pcl_ros::PCLNodelet
typedef pcl::IndicesConstPtr	IndicesConstPtr

typedef pcl::IndicesPtr	IndicesPtr

typedef pcl_msgs::ModelCoefficients	ModelCoefficients

typedef ModelCoefficients::ConstPtr	ModelCoefficientsConstPtr

typedef ModelCoefficients::Ptr	ModelCoefficientsPtr

typedef pcl::PointCloud< pcl::PointXYZ >	PointCloud

typedef sensor_msgs::PointCloud2	PointCloud2

typedef boost::shared_ptr< const PointCloud >	PointCloudConstPtr

typedef boost::shared_ptr< PointCloud >	PointCloudPtr

typedef pcl_msgs::PointIndices	PointIndices

typedef PointIndices::ConstPtr	PointIndicesConstPtr

typedef PointIndices::Ptr	PointIndicesPtr

Detailed Description

EuclideanClusterExtraction represents a segmentation class for cluster extraction in an Euclidean sense.

Author: Radu Bogdan Rusu

Definition at line 57 of file extract_clusters.h.

Constructor & Destructor Documentation

◆ EuclideanClusterExtraction()

pcl_ros::EuclideanClusterExtraction::EuclideanClusterExtraction ( )

inline

Empty constructor.

Definition at line 61 of file extract_clusters.h.

Member Function Documentation

◆ config_callback()

void pcl_ros::EuclideanClusterExtraction::config_callback	(	EuclideanClusterExtractionConfig &	config,
		uint32_t	level
	)

protected

Dynamic reconfigure callback.

Parameters

config	the config object
level	the dynamic reconfigure level

Definition at line 140 of file extract_clusters.cpp.

◆ input_indices_callback()

void pcl_ros::EuclideanClusterExtraction::input_indices_callback	(	const PointCloudConstPtr &	cloud,
		const PointIndicesConstPtr &	indices
	)

protected

Input point cloud callback.

Parameters

cloud	the pointer to the input point cloud
indices	the pointer to the input point cloud indices

DEBUG

Definition at line 166 of file extract_clusters.cpp.

◆ onInit()

void pcl_ros::EuclideanClusterExtraction::onInit ( )

protectedvirtual

Nodelet initialization routine.

Reimplemented from pcl_ros::PCLNodelet.

Definition at line 50 of file extract_clusters.cpp.

◆ subscribe()

void pcl_ros::EuclideanClusterExtraction::subscribe ( )

protectedvirtual

LazyNodelet connection routine.

Reimplemented from pcl_ros::PCLNodelet.

Definition at line 98 of file extract_clusters.cpp.

◆ unsubscribe()

void pcl_ros::EuclideanClusterExtraction::unsubscribe ( )

protectedvirtual

Reimplemented from pcl_ros::PCLNodelet.

Definition at line 127 of file extract_clusters.cpp.

Member Data Documentation

◆ impl_

pcl::EuclideanClusterExtraction<pcl::PointXYZ> pcl_ros::EuclideanClusterExtraction::impl_

private

The PCL implementation used.

Definition at line 95 of file extract_clusters.h.

◆ max_clusters_

int pcl_ros::EuclideanClusterExtraction::max_clusters_

protected

Maximum number of clusters to publish.

Definition at line 69 of file extract_clusters.h.

◆ publish_indices_

bool pcl_ros::EuclideanClusterExtraction::publish_indices_

protected

Publish indices or convert to PointCloud clusters. Default: false.

Definition at line 61 of file extract_clusters.h.

◆ srv_

boost::shared_ptr<dynamic_reconfigure::Server<EuclideanClusterExtractionConfig> > pcl_ros::EuclideanClusterExtraction::srv_

protected

Pointer to a dynamic reconfigure service.

Definition at line 72 of file extract_clusters.h.

◆ sub_input_

ros::Subscriber pcl_ros::EuclideanClusterExtraction::sub_input_

private

The input PointCloud subscriber.

Definition at line 98 of file extract_clusters.h.

◆ sync_input_indices_a_

boost::shared_ptr<message_filters::Synchronizer<sync_policies::ApproximateTime<PointCloud, PointIndices> > > pcl_ros::EuclideanClusterExtraction::sync_input_indices_a_

private

Definition at line 102 of file extract_clusters.h.

◆ sync_input_indices_e_

boost::shared_ptr<message_filters::Synchronizer<sync_policies::ExactTime<PointCloud, PointIndices> > > pcl_ros::EuclideanClusterExtraction::sync_input_indices_e_

private

Synchronized input, and indices.

Definition at line 101 of file extract_clusters.h.

The documentation for this class was generated from the following files:

Public Member Functions

Protected Member Functions

Protected Attributes

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ EuclideanClusterExtraction()

Member Function Documentation

◆ config_callback()

◆ input_indices_callback()

◆ onInit()

◆ subscribe()

◆ unsubscribe()

Member Data Documentation

◆ impl_

◆ max_clusters_

◆ publish_indices_

◆ srv_

◆ sub_input_

◆ sync_input_indices_a_

◆ sync_input_indices_e_